Recent advancements in on-site robotic construction allow a direct modulation of native soil into architecture. To date, this was mainly explored for extra-terrestrial construction. To promote geomaterial reconstitution in architecture, the paper presents a workflow and methods for additive manufacturing, explored using desert soil and a robotic tool. The workflow provides the steps for linking site, material, design, and fabrication, including the robotic setup, simulation, and technical analysis. The paper explores three methods: continuous, discrete, and a method termed here multimode additive. These methods are demonstrated through experiments detailing their design and fabrication processes, and the paper concludes with their comparative analysis. The research expands additive manufacturing with earthen materials, and the outcomes indicate a potential for combining computational design, robotic fabrication, and manual assembly. The paper also clarifies and expands existing terminology regarding part-to-whole relationships in on-site robotic fabrication, promoting resource-conscious, site-tailored additive manufacturing in architecture.

现场机器人施工的最新进展允许将原生土壤直接调制到建筑中。迄今为止，这主要是为外​​星建造而探索的。为了促进建筑中的地质材料重建，本文提出了增材制造的工作流程和方法，使用沙漠土壤和机器人工具进行了探索。该工作流提供了链接站点、材料、设计和制造的步骤，包括机器人设置、模拟和技术分析。本文探讨了三种方法：连续、离散和此处称为多模加法的方法。这些方法通过详细说明其设计和制造过程的实验进行了证明，本文以它们的比较分析结束。该研究扩展了土质材料的增材制造，结果表明结合计算设计、机器人制造和手动组装的潜力。该论文还澄清和扩展了有关现场机器人制造中部件与整体关系的现有术语，促进了建筑中资源敏感、现场定制的增材制造。